2012-09-18T18:08:56.525Z,1347991736.525 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T18:08:56.527Z,1347991736.527 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T18:08:56.528Z,1347991736.528 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T18:08:56.529Z,1347991736.529 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T18:08:56.532Z,1347991736.532 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T18:08:56.544Z,1347991736.544 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T18:08:56.545Z,1347991736.545 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T18:08:56.546Z,1347991736.546 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T18:08:56.546Z,1347991736.546 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T18:08:56.548Z,1347991736.547 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T18:08:56.840Z,1347991736.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T18:08:56.840Z,1347991736.840 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T18:08:57.117Z,1347991737.117 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T18:08:57.117Z,1347991737.117 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T18:08:57.203Z,1347991737.203 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T18:08:57.204Z,1347991737.204 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T18:08:57.408Z,1347991737.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T18:08:57.408Z,1347991737.408 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T18:08:57.544Z,1347991737.544 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T18:08:57.545Z,1347991737.545 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T18:08:57.799Z,1347991737.799 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T18:08:57.800Z,1347991737.800 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T18:08:57.981Z,1347991737.981 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T18:08:57.981Z,1347991737.981 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T18:08:58.244Z,1347991738.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T18:08:58.245Z,1347991738.245 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T18:08:58.344Z,1347991738.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T18:08:58.345Z,1347991738.345 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T18:08:58.751Z,1347991738.751 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T18:08:58.752Z,1347991738.752 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T18:08:58.865Z,1347991738.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T18:08:58.866Z,1347991738.866 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T18:08:58.953Z,1347991738.953 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T18:08:58.954Z,1347991738.954 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T18:08:59.057Z,1347991739.057 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T18:08:59.187Z,1347991739.187 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T18:08:59.273Z,1347991739.273 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T18:08:59.376Z,1347991739.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T18:08:59.477Z,1347991739.477 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T18:08:59.596Z,1347991739.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T18:08:59.686Z,1347991739.686 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T18:08:59.778Z,1347991739.778 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T18:08:59.788Z,1347991739.788 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T18:08:59.820Z,1347991739.820 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T18:08:59.964Z,1347991739.964 [InternalSim] Loaded
2012-09-18T18:08:59.964Z,1347991739.964 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T18:08:59.965Z,1347991739.965 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T18:08:59.965Z,1347991739.965 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T18:09:00.084Z,1347991740.084 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T18:09:00.098Z,1347991740.098 [SBIT] Loaded
2012-09-18T18:09:00.098Z,1347991740.098 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T18:09:00.099Z,1347991740.099 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T18:09:00.128Z,1347991740.128 [IBIT] Loaded
2012-09-18T18:09:00.129Z,1347991740.129 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T18:09:00.132Z,1347991740.132 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T18:09:00.253Z,1347991740.253 [CBIT] Loaded
2012-09-18T18:09:00.254Z,1347991740.254 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T18:09:00.254Z,1347991740.254 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T18:09:00.255Z,1347991740.255 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T18:09:00.401Z,1347991740.401 [BuoyancyServo] Loaded
2012-09-18T18:09:00.401Z,1347991740.401 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T18:09:00.415Z,1347991740.415 [RudderServo] Loaded
2012-09-18T18:09:00.415Z,1347991740.415 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T18:09:00.427Z,1347991740.427 [ThrusterServo] Loaded
2012-09-18T18:09:00.428Z,1347991740.428 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T18:09:00.428Z,1347991740.428 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T18:09:00.429Z,1347991740.429 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T18:09:00.446Z,1347991740.446 [DepthRateCalculator] Loaded
2012-09-18T18:09:00.446Z,1347991740.446 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T18:09:02.667Z,1347991742.667 [HFRadarModelCalc] Loaded
2012-09-18T18:09:02.667Z,1347991742.667 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T18:09:02.684Z,1347991742.684 [NavChart] Loaded
2012-09-18T18:09:02.684Z,1347991742.684 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T18:09:02.690Z,1347991742.690 [PitchRateCalculator] Loaded
2012-09-18T18:09:02.691Z,1347991742.691 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T18:09:02.697Z,1347991742.697 [SpeedCalculator] Loaded
2012-09-18T18:09:02.697Z,1347991742.697 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T18:09:02.713Z,1347991742.713 [TempGradientCalculator] Loaded
2012-09-18T18:09:02.713Z,1347991742.713 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T18:09:02.719Z,1347991742.719 [YawRateCalculator] Loaded
2012-09-18T18:09:02.720Z,1347991742.720 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T18:09:02.740Z,1347991742.740 [Navigation] Loaded
2012-09-18T18:09:02.740Z,1347991742.740 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T18:09:02.741Z,1347991742.741 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T18:09:02.742Z,1347991742.741 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T18:09:02.984Z,1347991742.984 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T18:09:02.984Z,1347991742.984 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T18:09:03.019Z,1347991743.019 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T18:09:03.020Z,1347991743.020 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T18:09:03.115Z,1347991743.115 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T18:09:03.217Z,1347991743.217 [VerticalControl] Loaded
2012-09-18T18:09:03.218Z,1347991743.218 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T18:09:03.219Z,1347991743.219 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T18:09:03.240Z,1347991743.240 [HorizontalControl] Loaded
2012-09-18T18:09:03.241Z,1347991743.241 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T18:09:03.242Z,1347991743.242 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T18:09:03.243Z,1347991743.243 [SpeedControl] Loaded
2012-09-18T18:09:03.244Z,1347991743.244 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T18:09:03.245Z,1347991743.245 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T18:09:03.245Z,1347991743.245 [LoopControl] Loaded
2012-09-18T18:09:03.245Z,1347991743.246 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T18:09:03.246Z,1347991743.246 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T18:09:03.247Z,1347991743.247 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T18:09:03.252Z,1347991743.252 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T18:09:03.257Z,1347991743.257 [AsyncPiEstimator] Loaded
2012-09-18T18:09:03.257Z,1347991743.257 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T18:09:03.258Z,1347991743.258 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T18:09:03.259Z,1347991743.259 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T18:09:03.260Z,1347991743.260 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T18:09:03.384Z,1347991743.384 [AHRS_sp3003D] Loaded
2012-09-18T18:09:03.385Z,1347991743.385 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T18:09:03.399Z,1347991743.399 [Depth_Keller] Loaded
2012-09-18T18:09:03.399Z,1347991743.399 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T18:09:03.405Z,1347991743.405 [DropWeight] Loaded
2012-09-18T18:09:03.405Z,1347991743.405 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T18:09:03.491Z,1347991743.491 [NAL9602] Loaded
2012-09-18T18:09:03.491Z,1347991743.491 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T18:09:03.544Z,1347991743.544 [Onboard] Loaded
2012-09-18T18:09:03.544Z,1347991743.544 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T18:09:03.551Z,1347991743.551 [Radio_Freewave] Loaded
2012-09-18T18:09:03.551Z,1347991743.551 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T18:09:03.552Z,1347991743.552 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T18:09:03.553Z,1347991743.553 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T18:09:03.601Z,1347991743.601 [PAR_Licor] Loaded
2012-09-18T18:09:03.601Z,1347991743.601 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T18:09:03.633Z,1347991743.633 [WetLabsBB2FL] Loaded
2012-09-18T18:09:03.633Z,1347991743.633 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-18T18:09:03.635Z,1347991743.635 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B24E0
2012-09-18T18:09:03.635Z,1347991743.635 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T18:09:03.638Z,1347991743.638 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T18:09:03.639Z,1347991743.639 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T18:09:03.643Z,1347991743.643 [Supervisor](DEBUG): Running supervisor.
2012-09-18T18:09:03.646Z,1347991743.646 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T18:09:03.647Z,1347991743.647 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T18:09:03.679Z,1347991743.679 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T18:09:03.693Z,1347991743.693 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T18:09:03.693Z,1347991743.694 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T18:09:03.694Z,1347991743.694 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T18:09:03.695Z,1347991743.695 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T18:09:03.695Z,1347991743.695 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-18T18:09:03.697Z,1347991743.697 [WetLabsBB2FL](INFO): Powering down
2012-09-18T18:09:03.719Z,1347991743.719 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T18:09:03.720Z,1347991743.720 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T18:09:03.720Z,1347991743.720 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T18:09:03.720Z,1347991743.720 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T18:09:03.721Z,1347991743.721 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T18:09:03.722Z,1347991743.722 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T18:09:03.723Z,1347991743.723 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T18:09:03.723Z,1347991743.723 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T18:09:03.725Z,1347991743.725 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T18:09:03.726Z,1347991743.726 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T18:09:03.726Z,1347991743.726 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T18:09:03.731Z,1347991743.731 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T18:09:03.743Z,1347991743.743 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:09:03.753Z,1347991743.753 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface RunIn="Progression"/>

    <Aggregate Id="StartupSatComms" >

        <ReadDatum>
            <Timeout Duration="P1M" /><Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" /><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2012-09-18T18:09:03.753Z,1347991743.753 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T18:09:03.782Z,1347991743.782 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T18:09:03.784Z,1347991743.784 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T18:09:03.787Z,1347991743.787 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:09:03.795Z,1347991743.795 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T18:09:03.798Z,1347991743.798 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:09:03.805Z,1347991743.805 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T18:09:03.813Z,1347991743.813 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T18:09:03.816Z,1347991743.816 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:09:03.821Z,1347991743.821 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T18:09:03.825Z,1347991743.825 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When><Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS"><Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Setting>
                    <Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium" >

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-09-18T18:09:03.829Z,1347991743.829 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-18T18:09:03.850Z,1347991743.849 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T18:09:03.962Z,1347991743.962 [Radio_Freewave](INFO): Powering up
2012-09-18T18:09:04.127Z,1347991744.127 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T18:09:04.128Z,1347991744.128 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T18:09:04.135Z,1347991744.135 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T18:09:04.136Z,1347991744.136 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T18:09:04.142Z,1347991744.142 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T18:09:04.143Z,1347991744.143 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T18:09:08.867Z,1347991748.867 [NAL9602](INFO): Powering up NAL9602
2012-09-18T18:09:19.312Z,1347991759.312 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T18:09:19.315Z,1347991759.315 [CBIT](IMPORTANT): Beginning GF scan
2012-09-18T18:09:19.699Z,1347991759.699 [NAL9602](INFO): NAL9602 initialized
2012-09-18T18:09:21.935Z,1347991761.935 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.900002 degree
2012-09-18T18:09:21.936Z,1347991761.936 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2012-09-18T18:09:21.937Z,1347991761.937 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.930000 degree
2012-09-18T18:09:21.938Z,1347991761.938 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2012-09-18T18:09:21.939Z,1347991761.939 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-18T18:09:22.174Z,1347991762.174 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-18T18:09:30.871Z,1347991770.871 [NAL9602](INFO): Powering down
2012-09-18T18:09:32.517Z,1347991772.517 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-18T18:09:45.723Z,1347991785.723 [CBIT](IMPORTANT): No ground fault detected
2012-09-18T18:10:12.892Z,1347991812.892 [SBIT](CRITICAL): SBIT FAILED
2012-09-18T18:10:13.286Z,1347991813.286 [MissionManager](IMPORTANT): Started mission Startup
2012-09-18T18:10:13.286Z,1347991813.286 [Startup] Running Loop=1
2012-09-18T18:10:13.286Z,1347991813.286 [Startup](INFO): Aggregate::initialize Startup
2012-09-18T18:10:13.287Z,1347991813.286 [Startup:A.GoToSurface] Running Loop=1
2012-09-18T18:10:13.287Z,1347991813.287 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T18:10:13.292Z,1347991813.292 [Startup:StartupSatComms] Running Loop=1
2012-09-18T18:10:13.293Z,1347991813.293 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-18T18:10:13.293Z,1347991813.293 [Startup:StartupSatComms:A] Running Loop=1
2012-09-18T18:10:13.688Z,1347991813.688 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-18T18:10:13.690Z,1347991813.690 [Startup:StartupSatComms:A] Stopped
2012-09-18T18:10:13.690Z,1347991813.690 [Startup:StartupSatComms:B] Running Loop=1
2012-09-18T18:10:14.086Z,1347991814.086 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-18T18:10:14.472Z,1347991814.472 [NAL9602](INFO): Powering up
2012-09-18T18:10:25.327Z,1347991825.327 [NAL9602](INFO): NAL9602 initialized
2012-09-18T18:10:28.789Z,1347991828.789 [CommandLine](IMPORTANT): got command load ./Missions/Science/science_to_67_70.xml
2012-09-18T18:10:28.789Z,1347991828.789 [MissionManager](INFO): Loading Mission: ./Missions/Science/science_to_67_70.xml
2012-09-18T18:10:28.891Z,1347991828.891 [MissionManager](INFO): DefineArg science_to_67_70.MinAltitude = 10.000000 m
2012-09-18T18:10:28.894Z,1347991828.894 [MissionManager](INFO): DefineArg science_to_67_70.MaxDepth = 105.000000 m
2012-09-18T18:10:28.897Z,1347991828.897 [MissionManager](INFO): DefineArg science_to_67_70.MinOffshore = 2000.000000 m
2012-09-18T18:10:28.900Z,1347991828.900 [MissionManager](INFO): DefineArg science_to_67_70.YoYoMinDepth = 3.000000 m
2012-09-18T18:10:28.904Z,1347991828.904 [MissionManager](INFO): DefineArg science_to_67_70.YoYoMaxDepth = 100.000000 m
2012-09-18T18:10:28.907Z,1347991828.907 [MissionManager](INFO): DefineArg science_to_67_70.YoYoUpPitch = 20.000000 arcdeg
2012-09-18T18:10:28.910Z,1347991828.910 [MissionManager](INFO): DefineArg science_to_67_70.YoYoDownPitch = -15.000000 arcdeg
2012-09-18T18:10:28.913Z,1347991828.913 [MissionManager](INFO): DefineArg science_to_67_70.WptLat = 36.120000 arcdeg
2012-09-18T18:10:28.916Z,1347991828.916 [MissionManager](INFO): DefineArg science_to_67_70.WptLon = -123.486000 arcdeg
2012-09-18T18:10:28.919Z,1347991828.919 [MissionManager](INFO): DefineArg science_to_67_70.NeedCommsTime = 120.000000 min
2012-09-18T18:10:28.922Z,1347991828.922 [MissionManager](INFO): DefineArg science_to_67_70.Speed = 1.000000 m/s
2012-09-18T18:10:28.925Z,1347991828.925 [MissionManager](INFO): DefineArg science_to_67_70.Timeout = 36.000000 h
2012-09-18T18:10:28.928Z,1347991828.928 [MissionManager](INFO): DefineArg science_to_67_70.BuoyancyNeutral = 0.000330 n/a
2012-09-18T18:10:28.932Z,1347991828.932 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-09-18T18:10:28.939Z,1347991828.939 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Construct Wait.
2012-09-18T18:10:28.940Z,1347991828.940 [science_to_67_70:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-09-18T18:10:28.950Z,1347991828.950 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-09-18T18:10:28.957Z,1347991828.957 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Construct Wait.
2012-09-18T18:10:28.958Z,1347991828.958 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-09-18T18:10:28.976Z,1347991828.976 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfaceDepthRate = nan m/s
2012-09-18T18:10:28.979Z,1347991828.979 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfacePitch = nan arcdeg
2012-09-18T18:10:28.982Z,1347991828.982 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s
2012-09-18T18:10:28.985Z,1347991828.985 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.IridiumTimeout = 30.000000 min
2012-09-18T18:10:28.986Z,1347991828.986 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:10:28.997Z,1347991828.997 [MissionManager](INFO): RedefineArg science_to_67_70:SURFACECOMMS.SurfacePitch = 20.000000 arcdeg
2012-09-18T18:10:29.002Z,1347991829.003 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2012-09-18T18:10:29.062Z,1347991829.062 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleISUS = 0 bool
2012-09-18T18:10:29.065Z,1347991829.065 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleRSSI = 1 bool
2012-09-18T18:10:29.068Z,1347991829.068 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleADCP = 1 bool
2012-09-18T18:10:29.070Z,1347991829.070 [MissionManager](INFO): DefineArg science_to_67_70:Science.PeakDetectChlActive = 0 bool
2012-09-18T18:10:29.073Z,1347991829.073 [MissionManager](INFO): DefineArg science_to_67_70:Science.PeakDetectNO3Active = 0 bool
2012-09-18T18:10:29.076Z,1347991829.076 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleAanderaaO2 = 0.000000 n/a
2012-09-18T18:10:29.080Z,1347991829.080 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleNeilBrown = 0.000000 n/a
2012-09-18T18:10:29.083Z,1347991829.083 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleTurbulence_NPS = 0.000000 n/a
2012-09-18T18:10:29.087Z,1347991829.087 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleWetLabsBB2FL = 1.000000 n/a
2012-09-18T18:10:29.090Z,1347991829.090 [MissionManager](INFO): DefineArg science_to_67_70:Science.EnabledDVL = 0.000000 n/a
2012-09-18T18:10:29.093Z,1347991829.093 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChl = 0.000000 ug/l
2012-09-18T18:10:29.123Z,1347991829.123 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlDepth = 0.000000 m
2012-09-18T18:10:29.126Z,1347991829.126 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlLatitude = nan arcdeg
2012-09-18T18:10:29.129Z,1347991829.129 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlLongitude = nan arcdeg
2012-09-18T18:10:29.142Z,1347991829.142 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3 = 0.000000 umol/l
2012-09-18T18:10:29.146Z,1347991829.145 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Depth = 0.000000 m
2012-09-18T18:10:29.149Z,1347991829.149 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Latitude = nan arcdeg
2012-09-18T18:10:29.156Z,1347991829.156 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Longitude = nan arcdeg
2012-09-18T18:10:29.177Z,1347991829.177 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-09-18T18:10:29.185Z,1347991829.185 [science_to_67_70:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-09-18T18:10:29.199Z,1347991829.199 [MissionManager](INFO): RedefineArg science_to_67_70:Science.SampleISUS = 1 bool
2012-09-18T18:10:29.200Z,1347991829.200 [MissionManager](INFO): RedefineArg science_to_67_70:Science.PeakDetectChlActive = 1 bool
2012-09-18T18:10:29.201Z,1347991829.201 [science_to_67_70:G.Buoyancy](DEBUG): Construct Buoyancy.
2012-09-18T18:10:29.218Z,1347991829.218 [science_to_67_70:H.SetSpeed](DEBUG): Construct.
2012-09-18T18:10:29.225Z,1347991829.225 [science_to_67_70:I.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-09-18T18:10:29.248Z,1347991829.247 [science_to_67_70:J.YoYo](DEBUG): Construct YoYo.
2012-09-18T18:10:29.264Z,1347991829.264 [science_to_67_70:Wpt.Point](DEBUG): Construct.
2012-09-18T18:10:29.306Z,1347991829.306 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="science_to_67_70">

    <Description>
        Vehicle yo-yo's to the specified waypoint, with science turned on.
    </Description>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>105.0</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000.0</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>3.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>100.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-15.0</Value></DefineArg>

    <DefineArg Name="WptLat"><Description>
        Latitude of waypoint.
    </Description><Units:degree/><Value>36.120</Value></DefineArg>

    <DefineArg Name="WptLon"><Description>
        Longitude of waypoint.
    </Description><Units:degree/><Value>-123.486</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications, if the vehicle
        has a positive pitch. If the vehicle has a negative pitch, it will wait
        up to 10 minutes more to begin ascent.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="Timeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>36</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <Timeout Duration="Timeout"/>

    <Aggregate Id="AltEnvWrapper">

        <When><Arg Name="MinAltitude"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:AltitudeEnvelope RunIn="Parallel">
            <Description>
                Safety behavior that keeps vehicle off sea floor
            </Description>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Description>
            Safety behavior that keeps vehicle from going too deep
        </Description>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Aggregate Id="OffshoreWrapper">

        <When><Arg Name="MinOffshore"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:OffshoreEnvelope RunIn="Parallel">
            <Description>
                Safety behavior that keeps vehicle away from the shore
            </Description>
            <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
        </Guidance:OffshoreEnvelope>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS">
        <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
    </Insert>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When><Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And>
            <Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or>
            <Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/><Add><Units:minute/><Value>10</Value></Add></Gt></Or>
        </When>

        <Call RefId="SURFACECOMMS"/>

    </Aggregate>

    <Insert Filename="Insert/Science.xml">
        <Description>
            If we're executing here or below, lets' get science data!
        </Description>
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Guidance:Buoyancy RunIn="Parallel">
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:YoYo RunIn="Parallel">
        <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:YoYo>

    <Guidance:Point Id="Wpt" RunIn="Sequence">
        <Setting><Guidance:Point.latitude/><Arg Name="WptLat"/></Setting>
        <Setting><Guidance:Point.longitude/><Arg Name="WptLon"/></Setting>
    </Guidance:Point>

</Mission>


2012-09-18T18:10:29.310Z,1347991829.310 [CommandLine](IMPORTANT): Loaded ./Missions/Science/science_to_67_70.xml
2012-09-18T18:10:29.311Z,1347991829.311 [CommandLine](IMPORTANT): got command set 
2012-09-18T18:10:29.311Z,1347991829.311 [CommandLine](FAULT): Incomplete syntax. Try: help set
2012-09-18T18:10:34.550Z,1347991834.550 [CommandLine](IMPORTANT): got command load ./Missions/Science/science_to_67_70.xml
2012-09-18T18:10:34.564Z,1347991834.564 [MissionManager](INFO): Loading Mission: ./Missions/Science/science_to_67_70.xml
2012-09-18T18:10:34.627Z,1347991834.628 [MissionManager](INFO): DefineArg science_to_67_70.MinAltitude = 10.000000 m
2012-09-18T18:10:34.630Z,1347991834.630 [MissionManager](INFO): DefineArg science_to_67_70.MaxDepth = 105.000000 m
2012-09-18T18:10:34.632Z,1347991834.632 [MissionManager](INFO): DefineArg science_to_67_70.MinOffshore = 2000.000000 m
2012-09-18T18:10:34.635Z,1347991834.635 [MissionManager](INFO): DefineArg science_to_67_70.YoYoMinDepth = 3.000000 m
2012-09-18T18:10:34.637Z,1347991834.637 [MissionManager](INFO): DefineArg science_to_67_70.YoYoMaxDepth = 100.000000 m
2012-09-18T18:10:34.639Z,1347991834.639 [MissionManager](INFO): DefineArg science_to_67_70.YoYoUpPitch = 20.000000 arcdeg
2012-09-18T18:10:34.642Z,1347991834.642 [MissionManager](INFO): DefineArg science_to_67_70.YoYoDownPitch = -15.000000 arcdeg
2012-09-18T18:10:34.645Z,1347991834.645 [MissionManager](INFO): DefineArg science_to_67_70.WptLat = 36.120000 arcdeg
2012-09-18T18:10:34.647Z,1347991834.647 [MissionManager](INFO): DefineArg science_to_67_70.WptLon = -123.486000 arcdeg
2012-09-18T18:10:34.650Z,1347991834.649 [MissionManager](INFO): DefineArg science_to_67_70.NeedCommsTime = 120.000000 min
2012-09-18T18:10:34.652Z,1347991834.652 [MissionManager](INFO): DefineArg science_to_67_70.Speed = 1.000000 m/s
2012-09-18T18:10:34.654Z,1347991834.654 [MissionManager](INFO): DefineArg science_to_67_70.Timeout = 36.000000 h
2012-09-18T18:10:34.657Z,1347991834.657 [MissionManager](INFO): DefineArg science_to_67_70.BuoyancyNeutral = 0.000330 n/a
2012-09-18T18:10:34.660Z,1347991834.660 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-09-18T18:10:34.665Z,1347991834.665 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Construct Wait.
2012-09-18T18:10:34.666Z,1347991834.666 [science_to_67_70:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-09-18T18:10:34.673Z,1347991834.673 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-09-18T18:10:34.678Z,1347991834.678 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Construct Wait.
2012-09-18T18:10:34.679Z,1347991834.679 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-09-18T18:10:34.699Z,1347991834.699 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfaceDepthRate = nan m/s
2012-09-18T18:10:34.701Z,1347991834.701 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfacePitch = nan arcdeg
2012-09-18T18:10:34.703Z,1347991834.704 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s
2012-09-18T18:10:34.706Z,1347991834.706 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.IridiumTimeout = 30.000000 min
2012-09-18T18:10:34.707Z,1347991834.707 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:10:34.715Z,1347991834.715 [MissionManager](INFO): RedefineArg science_to_67_70:SURFACECOMMS.SurfacePitch = 20.000000 arcdeg
2012-09-18T18:10:34.733Z,1347991834.733 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2012-09-18T18:10:34.820Z,1347991834.820 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleISUS = 0 bool
2012-09-18T18:10:34.822Z,1347991834.822 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleRSSI = 1 bool
2012-09-18T18:10:34.840Z,1347991834.840 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleADCP = 1 bool
2012-09-18T18:10:34.842Z,1347991834.842 [MissionManager](INFO): DefineArg science_to_67_70:Science.PeakDetectChlActive = 0 bool
2012-09-18T18:10:34.844Z,1347991834.844 [MissionManager](INFO): DefineArg science_to_67_70:Science.PeakDetectNO3Active = 0 bool
2012-09-18T18:10:34.846Z,1347991834.846 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleAanderaaO2 = 0.000000 n/a
2012-09-18T18:10:34.849Z,1347991834.849 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleNeilBrown = 0.000000 n/a
2012-09-18T18:10:34.863Z,1347991834.863 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleTurbulence_NPS = 0.000000 n/a
2012-09-18T18:10:34.866Z,1347991834.866 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleWetLabsBB2FL = 1.000000 n/a
2012-09-18T18:10:34.868Z,1347991834.868 [MissionManager](INFO): DefineArg science_to_67_70:Science.EnabledDVL = 0.000000 n/a
2012-09-18T18:10:34.870Z,1347991834.870 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChl = 0.000000 ug/l
2012-09-18T18:10:34.873Z,1347991834.873 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlDepth = 0.000000 m
2012-09-18T18:10:34.887Z,1347991834.887 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlLatitude = nan arcdeg
2012-09-18T18:10:34.890Z,1347991834.890 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlLongitude = nan arcdeg
2012-09-18T18:10:34.892Z,1347991834.892 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3 = 0.000000 umol/l
2012-09-18T18:10:34.895Z,1347991834.895 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Depth = 0.000000 m
2012-09-18T18:10:34.897Z,1347991834.897 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Latitude = nan arcdeg
2012-09-18T18:10:34.911Z,1347991834.911 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Longitude = nan arcdeg
2012-09-18T18:10:34.921Z,1347991834.921 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-09-18T18:10:34.940Z,1347991834.940 [science_to_67_70:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-09-18T18:10:34.959Z,1347991834.959 [MissionManager](INFO): RedefineArg science_to_67_70:Science.SampleISUS = 1 bool
2012-09-18T18:10:34.961Z,1347991834.961 [MissionManager](INFO): RedefineArg science_to_67_70:Science.PeakDetectChlActive = 1 bool
2012-09-18T18:10:34.961Z,1347991834.961 [science_to_67_70:G.Buoyancy](DEBUG): Construct Buoyancy.
2012-09-18T18:10:34.965Z,1347991834.964 [science_to_67_70:H.SetSpeed](DEBUG): Construct.
2012-09-18T18:10:34.967Z,1347991834.967 [science_to_67_70:I.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-09-18T18:10:34.974Z,1347991834.974 [science_to_67_70:J.YoYo](DEBUG): Construct YoYo.
2012-09-18T18:10:35.010Z,1347991835.010 [science_to_67_70:Wpt.Point](DEBUG): Construct.
2012-09-18T18:10:35.058Z,1347991835.058 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="science_to_67_70">

    <Description>
        Vehicle yo-yo's to the specified waypoint, with science turned on.
    </Description>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>105.0</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000.0</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>3.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>100.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-15.0</Value></DefineArg>

    <DefineArg Name="WptLat"><Description>
        Latitude of waypoint.
    </Description><Units:degree/><Value>36.120</Value></DefineArg>

    <DefineArg Name="WptLon"><Description>
        Longitude of waypoint.
    </Description><Units:degree/><Value>-123.486</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications, if the vehicle
        has a positive pitch. If the vehicle has a negative pitch, it will wait
        up to 10 minutes more to begin ascent.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="Timeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>36</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <Timeout Duration="Timeout"/>

    <Aggregate Id="AltEnvWrapper">

        <When><Arg Name="MinAltitude"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:AltitudeEnvelope RunIn="Parallel">
            <Description>
                Safety behavior that keeps vehicle off sea floor
            </Description>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Description>
            Safety behavior that keeps vehicle from going too deep
        </Description>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Aggregate Id="OffshoreWrapper">

        <When><Arg Name="MinOffshore"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:OffshoreEnvelope RunIn="Parallel">
            <Description>
                Safety behavior that keeps vehicle away from the shore
            </Description>
            <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
        </Guidance:OffshoreEnvelope>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS">
        <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
    </Insert>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When><Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And>
            <Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or>
            <Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/><Add><Units:minute/><Value>10</Value></Add></Gt></Or>
        </When>

        <Call RefId="SURFACECOMMS"/>

    </Aggregate>

    <Insert Filename="Insert/Science.xml">
        <Description>
            If we're executing here or below, lets' get science data!
        </Description>
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Guidance:Buoyancy RunIn="Parallel">
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:YoYo RunIn="Parallel">
        <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:YoYo>

    <Guidance:Point Id="Wpt" RunIn="Sequence">
        <Setting><Guidance:Point.latitude/><Arg Name="WptLat"/></Setting>
        <Setting><Guidance:Point.longitude/><Arg Name="WptLon"/></Setting>
    </Guidance:Point>

</Mission>


2012-09-18T18:10:35.058Z,1347991835.058 [CommandLine](IMPORTANT): Loaded ./Missions/Science/science_to_67_70.xml
2012-09-18T18:10:35.059Z,1347991835.059 [CommandLine](IMPORTANT): got command set science_to_67_70.WptLat 36.308430 degree
2012-09-18T18:10:35.060Z,1347991835.060 [CommandLine](IMPORTANT): got command set science_to_67_70.WptLon -122.055359 degree
2012-09-18T18:10:35.060Z,1347991835.060 [CommandLine](IMPORTANT): got command set science_to_67_70.NeedCommsTime 60.000000 minute
2012-09-18T18:10:35.061Z,1347991835.061 [CommandLine](IMPORTANT): got command set science_to_67_70:Science.SampleAanderaaO2 0.000000 bool
2012-09-18T18:10:35.062Z,1347991835.062 [CommandLine](IMPORTANT): got command set science_to_67_70:Science.SampleISUS 0.000000 bool
2012-09-18T18:10:35.063Z,1347991835.063 [CommandLine](IMPORTANT): got command set science_to_67_70:Science.SampleNeilBrown 0.000000 bool
2012-09-18T18:10:35.064Z,1347991835.063 [CommandLine](IMPORTANT): got command set science_to_67_70:Science.SampleWetLabsBB2FL 1.000000 bool
2012-09-18T18:10:35.064Z,1347991835.064 [CommandLine](IMPORTANT): got command set science_to_67_70:Science.EnabledDVL 0.000000 bool
2012-09-18T18:10:35.065Z,1347991835.065 [CommandLine](IMPORTANT): got command run
2012-09-18T18:10:35.065Z,1347991835.065 [CommandLine](IMPORTANT): Running 
2012-09-18T18:10:42.387Z,1347991842.387 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-18T18:10:42.697Z,1347991842.697 [Startup:StartupSatComms:B] Stopped
2012-09-18T18:10:42.697Z,1347991842.697 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-18T18:10:42.697Z,1347991842.697 [Startup:StartupSatComms] Stopped
2012-09-18T18:10:42.698Z,1347991842.698 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-18T18:10:42.699Z,1347991842.699 [Startup](INFO): Completed Startup
2012-09-18T18:10:42.699Z,1347991842.699 [Startup] Stopped
2012-09-18T18:10:42.699Z,1347991842.699 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-18T18:10:42.699Z,1347991842.699 [Startup:A.GoToSurface] Stopped
2012-09-18T18:10:42.699Z,1347991842.699 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T18:10:43.090Z,1347991843.090 [MissionManager](IMPORTANT): Started mission science_to_67_70
2012-09-18T18:10:43.090Z,1347991843.090 [science_to_67_70] Running Loop=1
2012-09-18T18:10:43.090Z,1347991843.090 [science_to_67_70](INFO): Aggregate::initialize science_to_67_70
2012-09-18T18:10:43.090Z,1347991843.091 [science_to_67_70:B.DepthEnvelope] Running Loop=1
2012-09-18T18:10:43.091Z,1347991843.091 [science_to_67_70:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science](INFO): Aggregate::initialize science_to_67_70:Science
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:A] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:B] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:C] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:D] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:E] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:F] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:Science:G] Running Loop=1
2012-09-18T18:10:43.092Z,1347991843.092 [science_to_67_70:G.Buoyancy] Running Loop=1
2012-09-18T18:10:43.093Z,1347991843.092 [science_to_67_70:G.Buoyancy](DEBUG): Initialize Buoyancy Component.
2012-09-18T18:10:43.093Z,1347991843.093 [science_to_67_70:H.SetSpeed] Running Loop=1
2012-09-18T18:10:43.093Z,1347991843.093 [science_to_67_70:H.SetSpeed](DEBUG): Initialize.
2012-09-18T18:10:43.093Z,1347991843.093 [science_to_67_70:I.DepthEnvelope] Running Loop=1
2012-09-18T18:10:43.093Z,1347991843.093 [science_to_67_70:I.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-09-18T18:10:43.094Z,1347991843.094 [science_to_67_70:J.YoYo] Running Loop=1
2012-09-18T18:10:43.094Z,1347991843.094 [science_to_67_70:J.YoYo](DEBUG): Initialize YoYoComponent.
2012-09-18T18:10:43.094Z,1347991843.095 [science_to_67_70:SURFACECOMMS] Running Loop=1
2012-09-18T18:10:43.095Z,1347991843.095 [science_to_67_70:SURFACECOMMS](INFO): Aggregate::initialize science_to_67_70:SURFACECOMMS
2012-09-18T18:10:43.095Z,1347991843.095 [science_to_67_70:SURFACECOMMS:A.GoToSurface] Running Loop=1
2012-09-18T18:10:43.095Z,1347991843.095 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T18:10:43.096Z,1347991843.096 [science_to_67_70:J.YoYo] Running Loop=1
2012-09-18T18:10:43.101Z,1347991843.101 [science_to_67_70:I.DepthEnvelope] Running Loop=1
2012-09-18T18:10:43.107Z,1347991843.107 [science_to_67_70:H.SetSpeed] Running Loop=1
2012-09-18T18:10:43.112Z,1347991843.112 [science_to_67_70:G.Buoyancy] Running Loop=1
2012-09-18T18:10:43.116Z,1347991843.116 [science_to_67_70:Science] Running Loop=1
2012-09-18T18:10:43.117Z,1347991843.117 [science_to_67_70:Science:PeakDetectChl] Running Loop=1
2012-09-18T18:10:43.117Z,1347991843.117 [science_to_67_70:Science:PeakDetectChl](INFO): Aggregate::initialize science_to_67_70:Science:PeakDetectChl
2012-09-18T18:10:43.118Z,1347991843.118 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2012-09-18T18:10:43.118Z,1347991843.118 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2012-09-18T18:10:43.124Z,1347991843.124 [science_to_67_70:Science:G] Running Loop=1
2012-09-18T18:10:43.125Z,1347991843.125 [science_to_67_70:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2012-09-18T18:10:43.132Z,1347991843.132 [science_to_67_70:SURFACECOMMS:B] Running Loop=1
2012-09-18T18:10:43.133Z,1347991843.133 [science_to_67_70:SURFACECOMMS:B](INFO): Aggregate::initialize science_to_67_70:SURFACECOMMS:B
2012-09-18T18:10:43.133Z,1347991843.133 [science_to_67_70:SURFACECOMMS:B:A] Running Loop=1
2012-09-18T18:10:43.133Z,1347991843.133 [science_to_67_70:OffshoreWrapper] Running Loop=1
2012-09-18T18:10:43.133Z,1347991843.133 [science_to_67_70:OffshoreWrapper](INFO): Aggregate::initialize science_to_67_70:OffshoreWrapper
2012-09-18T18:10:43.133Z,1347991843.133 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2012-09-18T18:10:43.133Z,1347991843.133 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-09-18T18:10:43.133Z,1347991843.134 [science_to_67_70:OffshoreWrapper:B.Wait] Running Loop=1
2012-09-18T18:10:43.134Z,1347991843.134 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Initialize Wait Component.
2012-09-18T18:10:43.139Z,1347991843.138 [WetLabsBB2FL](INFO): Powering up
2012-09-18T18:10:43.140Z,1347991843.140 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2012-09-18T18:10:43.145Z,1347991843.145 [science_to_67_70:B.DepthEnvelope] Running Loop=1
2012-09-18T18:10:43.151Z,1347991843.151 [science_to_67_70:AltEnvWrapper] Running Loop=1
2012-09-18T18:10:43.151Z,1347991843.151 [science_to_67_70:AltEnvWrapper](INFO): Aggregate::initialize science_to_67_70:AltEnvWrapper
2012-09-18T18:10:43.151Z,1347991843.151 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2012-09-18T18:10:43.151Z,1347991843.151 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-09-18T18:10:43.152Z,1347991843.151 [science_to_67_70:AltEnvWrapper:B.Wait] Running Loop=1
2012-09-18T18:10:43.152Z,1347991843.152 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Initialize Wait Component.
2012-09-18T18:10:43.156Z,1347991843.157 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2012-09-18T18:10:43.491Z,1347991843.491 [science_to_67_70:J.YoYo] Preempted
2012-09-18T18:10:43.491Z,1347991843.491 [science_to_67_70:I.DepthEnvelope] Preempted
2012-09-18T18:10:43.491Z,1347991843.491 [science_to_67_70:H.SetSpeed] Preempted
2012-09-18T18:10:43.492Z,1347991843.492 [science_to_67_70:G.Buoyancy] Preempted
2012-09-18T18:10:43.492Z,1347991843.492 [science_to_67_70:Science] Preempted
2012-09-18T18:10:43.492Z,1347991843.492 [science_to_67_70:Science:G] Preempted
2012-09-18T18:10:43.493Z,1347991843.493 [science_to_67_70:SURFACECOMMS:B:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-18T18:10:43.494Z,1347991843.494 [science_to_67_70:SURFACECOMMS:B:A] Stopped
2012-09-18T18:10:43.495Z,1347991843.494 [science_to_67_70:SURFACECOMMS:B:B] Running Loop=1
2012-09-18T18:10:43.893Z,1347991843.893 [science_to_67_70:SURFACECOMMS:B:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-18T18:10:44.331Z,1347991844.330 [WetLabsBB2FL](INFO): Powering down
2012-09-18T18:10:44.694Z,1347991844.694 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2012-09-18T18:10:55.755Z,1347991855.755 [CommandLine](IMPORTANT): got command show variable wetblabs
2012-09-18T18:10:58.549Z,1347991858.549 [CommandLine](IMPORTANT): got command show variable wetlab
2012-09-18T18:10:58.554Z,1347991858.554 [CommandLine](INFO): Config/vehicle.WetLabsBB2FL_card (none)
2012-09-18T18:10:58.554Z,1347991858.554 [CommandLine](INFO): Config/vehicle.WetLabsBB2FL_uart (none)
2012-09-18T18:10:58.555Z,1347991858.555 [CommandLine](INFO): Config/vehicle.WetLabsBB2FL_baud (bit_per_second)
2012-09-18T18:10:58.569Z,1347991858.569 [CommandLine](INFO): Config/Science.WetLabsBB2FL_enable (bool)
2012-09-18T18:10:58.570Z,1347991858.570 [CommandLine](INFO): Config/Science.WetLabsBB2FL_useHardware (bool)
2012-09-18T18:10:58.570Z,1347991858.570 [CommandLine](INFO): Config/Science.WetLabsBB2FL_timeout (second)
2012-09-18T18:10:58.570Z,1347991858.570 [CommandLine](INFO): Config/Science.WetLabsBB2FL_period (second)
2012-09-18T18:10:58.571Z,1347991858.571 [CommandLine](INFO): Config/Science.WetLabsBB2FL_power (watt)
2012-09-18T18:10:58.571Z,1347991858.571 [CommandLine](INFO): Config/Science.WetLabsBB2FL_serial (none)
2012-09-18T18:10:58.572Z,1347991858.572 [CommandLine](INFO): Config/Science.WetLabsBB2FL_scaleFactor470 (reciprocal_meter_per_steradian_count)
2012-09-18T18:10:58.572Z,1347991858.572 [CommandLine](INFO): Config/Science.WetLabsBB2FL_darkCounts470 (count)
2012-09-18T18:10:58.572Z,1347991858.572 [CommandLine](INFO): Config/Science.WetLabsBB2FL_scaleFactor650 (reciprocal_meter_per_steradian_count)
2012-09-18T18:10:58.573Z,1347991858.573 [CommandLine](INFO): Config/Science.WetLabsBB2FL_darkCounts650 (count)
2012-09-18T18:10:58.573Z,1347991858.573 [CommandLine](INFO): Config/Science.WetLabsBB2FL_scaleFactorChl (microgram_per_liter_per_count)
2012-09-18T18:10:58.573Z,1347991858.573 [CommandLine](INFO): Config/Science.WetLabsBB2FL_darkCountsChl (count)
2012-09-18T18:10:58.574Z,1347991858.574 [CommandLine](INFO): Config/Science.WetLabsBB2FL_chlAccuracy (microgram_per_liter)
2012-09-18T18:10:58.587Z,1347991858.587 [CommandLine](INFO): WetLabsBB2FL.Output470 (count)
2012-09-18T18:10:58.587Z,1347991858.587 [CommandLine](INFO): WetLabsBB2FL.Output650 (count)
2012-09-18T18:10:58.587Z,1347991858.588 [CommandLine](INFO): WetLabsBB2FL.OutputChl (count)
2012-09-18T18:10:58.588Z,1347991858.588 [CommandLine](INFO): WetLabsBB2FL.volume_scattering_470_nm (reciprocal_meter_per_steradian)
2012-09-18T18:10:58.588Z,1347991858.588 [CommandLine](INFO): WetLabsBB2FL.volume_scattering_650_nm (reciprocal_meter_per_steradian)
2012-09-18T18:10:58.589Z,1347991858.589 [CommandLine](INFO): WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water (microgram_per_liter)
2012-09-18T18:10:58.589Z,1347991858.589 [CommandLine](INFO): WetLabsBB2FL.component_voltage (volt)
2012-09-18T18:10:58.589Z,1347991858.589 [CommandLine](INFO): WetLabsBB2FL.component_avgVoltage (volt)
2012-09-18T18:10:58.590Z,1347991858.590 [CommandLine](INFO): WetLabsBB2FL.component_current (milliampere)
2012-09-18T18:10:58.590Z,1347991858.590 [CommandLine](INFO): WetLabsBB2FL.component_avgCurrent (milliampere)
2012-09-18T18:10:58.591Z,1347991858.591 [CommandLine](INFO): WetLabsBB2FL.durationOfLastRun (second)
2012-09-18T18:10:58.593Z,1347991858.593 [CommandLine](INFO): science_to_67_70:Science.SampleWetLabsBB2FL (none)
2012-09-18T18:10:59.493Z,1347991859.493 [NAL9602](INFO): SBD MO Status=2, MOMSN=1285, MT Status=2, MTMSN=0
2012-09-18T18:10:59.493Z,1347991859.493 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2012-09-18T18:11:12.707Z,1347991872.707 [CommandLine](IMPORTANT): got command report touch WetLabsBB2FL.component_avgCurrent
2012-09-18T18:11:22.107Z,1347991882.107 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-18T18:11:22.291Z,1347991882.291 [science_to_67_70:SURFACECOMMS:B:B] Stopped
2012-09-18T18:11:22.291Z,1347991882.291 [science_to_67_70:SURFACECOMMS:B:C] Running Loop=1
2012-09-18T18:11:22.694Z,1347991882.694 [science_to_67_70:SURFACECOMMS:B:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-18T18:11:22.695Z,1347991882.695 [science_to_67_70:SURFACECOMMS:B:C] Stopped
2012-09-18T18:11:22.696Z,1347991882.695 [science_to_67_70:SURFACECOMMS:B](INFO): Completed science_to_67_70:SURFACECOMMS:B
2012-09-18T18:11:22.696Z,1347991882.696 [science_to_67_70:SURFACECOMMS:B] Stopped
2012-09-18T18:11:22.696Z,1347991882.696 [science_to_67_70:SURFACECOMMS:B](INFO): Aggregate::uninitialize science_to_67_70:SURFACECOMMS:B
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:SURFACECOMMS](INFO): Completed science_to_67_70:SURFACECOMMS
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:SURFACECOMMS] Stopped
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:SURFACECOMMS](INFO): Aggregate::uninitialize science_to_67_70:SURFACECOMMS
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:SURFACECOMMS:A.GoToSurface] Stopped
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:Wpt.Point] Running Loop=1
2012-09-18T18:11:22.697Z,1347991882.697 [science_to_67_70:Wpt.Point](DEBUG): Initialize.
2012-09-18T18:11:23.096Z,1347991883.096 [science_to_67_70:J.YoYo] Running Loop=1
2012-09-18T18:11:23.096Z,1347991883.096 [science_to_67_70:I.DepthEnvelope] Running Loop=1
2012-09-18T18:11:23.097Z,1347991883.097 [science_to_67_70:H.SetSpeed] Running Loop=1
2012-09-18T18:11:23.097Z,1347991883.097 [science_to_67_70:G.Buoyancy] Running Loop=1
2012-09-18T18:11:23.098Z,1347991883.098 [science_to_67_70:Science] Running Loop=1
2012-09-18T18:11:23.099Z,1347991883.099 [science_to_67_70:Science:G] Running Loop=1
2012-09-18T18:11:23.123Z,1347991883.122 [WetLabsBB2FL](INFO): Powering up
2012-09-18T18:11:25.593Z,1347991885.593 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 40.370002 mA
2012-09-18T18:11:26.800Z,1347991886.800 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 33.030000 mA
2012-09-18T18:11:27.966Z,1347991887.966 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 33.030000 mA
2012-09-18T18:11:32.246Z,1347991892.246 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 44.040002 mA
2012-09-18T18:11:33.308Z,1347991893.308 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 40.370002 mA
2012-09-18T18:11:34.908Z,1347991894.908 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 40.370002 mA
2012-09-18T18:11:36.112Z,1347991896.112 [Reporter](INFO): WetLabsBB2FL.component_avgCurrent 33.030000 mA
2012-09-18T18:11:37.295Z,1347991897.295 [CommandLine](IMPORTANT): got command report clear
2012-09-18T18:11:39.221Z,1347991899.221 [NAL9602](INFO): SBD MO Status=2, MOMSN=1285, MT Status=2, MTMSN=0
2012-09-18T18:11:39.222Z,1347991899.222 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2012-09-18T18:11:43.067Z,1347991903.067 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-18T18:11:44.845Z,1347991904.845 [NAL9602](INFO): Powering down
2012-09-18T18:14:58.015Z,1347992098.015 [CommandLine](IMPORTANT): got command restart application
2012-09-18T18:14:59.026Z,1347992099.026 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-18T18:14:59.026Z,1347992099.026 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-18T18:14:59.215Z,1347992099.215 [WetLabsBB2FL](INFO): Powering down
2012-09-18T18:14:59.230Z,1347992099.230 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70] Stopped
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70](INFO): Aggregate::uninitialize science_to_67_70
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:AltEnvWrapper] Stopped
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:AltEnvWrapper](INFO): Aggregate::uninitialize science_to_67_70:AltEnvWrapper
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope] Stopped
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:AltEnvWrapper:B.Wait] Stopped
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Uninitialize Wait Component.
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:B.DepthEnvelope] Stopped
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:B.DepthEnvelope](DEBUG): Uninitialize.
2012-09-18T18:14:59.240Z,1347992099.240 [science_to_67_70:OffshoreWrapper] Stopped
2012-09-18T18:14:59.241Z,1347992099.240 [science_to_67_70:OffshoreWrapper](INFO): Aggregate::uninitialize science_to_67_70:OffshoreWrapper
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:OffshoreWrapper:B.Wait] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Uninitialize Wait Component.
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science](INFO): Aggregate::uninitialize science_to_67_70:Science
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:A] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:B] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:C] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:D] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:E] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:F] Stopped
2012-09-18T18:14:59.241Z,1347992099.241 [science_to_67_70:Science:G] Stopped
2012-09-18T18:14:59.242Z,1347992099.241 [science_to_67_70:Science:PeakDetectChl] Stopped
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:Science:PeakDetectChl](INFO): Aggregate::uninitialize science_to_67_70:Science:PeakDetectChl
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:G.Buoyancy] Stopped
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:G.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:H.SetSpeed] Stopped
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:H.SetSpeed](DEBUG): Uninitialize.
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:I.DepthEnvelope] Stopped
2012-09-18T18:14:59.242Z,1347992099.242 [science_to_67_70:I.DepthEnvelope](DEBUG): Uninitialize.
2012-09-18T18:14:59.243Z,1347992099.243 [science_to_67_70:J.YoYo] Stopped
2012-09-18T18:14:59.243Z,1347992099.243 [science_to_67_70:J.YoYo](DEBUG): Uninitialize YoYoComponent.
2012-09-18T18:14:59.243Z,1347992099.243 [science_to_67_70:Wpt.Point] Stopped
2012-09-18T18:14:59.347Z,1347992099.347 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-18T18:14:59.358Z,1347992099.358 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-18T18:14:59.366Z,1347992099.366 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-18T18:14:59.377Z,1347992099.377 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-18T18:14:59.378Z,1347992099.378 [AHRS_sp3003D](INFO): Powering down
2012-09-18T18:14:59.463Z,1347992099.463 [NAL9602](INFO): Powering down
2012-09-18T18:14:59.465Z,1347992099.465 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T18:14:59.466Z,1347992099.466 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-18T18:14:59.471Z,1347992099.471 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-18T18:14:59.471Z,1347992099.471 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-18T18:14:59.472Z,1347992099.471 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-18T18:14:59.472Z,1347992099.472 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-18T18:14:59.472Z,1347992099.472 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T18:14:59.472Z,1347992099.472 [BuoyancyServo](INFO): Powering down
2012-09-18T18:14:59.473Z,1347992099.473 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T18:14:59.473Z,1347992099.473 [RudderServo](INFO): Powering down
2012-09-18T18:14:59.475Z,1347992099.474 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T18:14:59.475Z,1347992099.475 [ThrusterServo](INFO): Powering down
2012-09-18T18:14:59.475Z,1347992099.476 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-18T18:14:59.476Z,1347992099.476 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-18T18:14:59.476Z,1347992099.476 [CBIT](DEBUG): Uninitialize CBIT Component.